#include "kf_factory.hpp"
#include "test_kf_lateral_path.h"
using namespace auto_ros::control;
int main()
{

	std::string kf_yaml_path_name = test_kf_lateral_path + "kf_ll_yaw.yaml";
	KfFactory test_kf_factory;
	std::shared_ptr<KfVehicleBase> test_kf = test_kf_factory.CreateSharedObject("KfLLYaw", kf_yaml_path_name, 100);
	std::cout << test_kf->state_esti() << std::endl;

	test_kf->reset();
	kf_yaml_path_name = test_kf_lateral_path + "kf_ll_4d4s.yaml";
	test_kf = test_kf_factory.CreateSharedObject("KfLL4d4s", kf_yaml_path_name, 100);
	std::cout << test_kf->state_esti() << std::endl;
}